CN111338265A - Heterogeneous redundancy unmanned aerial vehicle autopilot - Google Patents
Heterogeneous redundancy unmanned aerial vehicle autopilot Download PDFInfo
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- CN111338265A CN111338265A CN202010228171.5A CN202010228171A CN111338265A CN 111338265 A CN111338265 A CN 111338265A CN 202010228171 A CN202010228171 A CN 202010228171A CN 111338265 A CN111338265 A CN 111338265A
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- cpu core
- magnetometer
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24182—Redundancy
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides an automatic pilot of a heterogeneous redundancy unmanned aerial vehicle, and belongs to the technical field of software and hardware technologies, integrated navigation technologies and avionics. The unmanned aerial vehicle comprises the CPU core module, the judgment main board, the inertial sensor, the air pressure sensor, the magnetometer and the satellite navigation module which are connected with one another, wherein the CPU core module adopts a dual-redundancy core processor and comprises two CPU core boards, so that the MCR of the system can be effectively improved, and the application range of the unmanned aerial vehicle is expanded.
Description
Technical Field
The invention relates to the technical field of software and hardware technologies, integrated navigation technologies and avionics, in particular to an automatic pilot of a heterogeneous redundancy unmanned aerial vehicle.
Background
Along with unmanned aerial vehicle system's wide application gradually, unmanned safety problem that brings is highlighted gradually, mainly embodies in two aspects: firstly, the equipment loss that the unmanned aerial vehicle crash caused is big, secondly the threat degree to subaerial people and facility is bigger by the way.
Cause unmanned aerial vehicle crash to be two aspect factors: firstly, unmanned aerial vehicle electromechanical system trouble, secondly artificial misoperation. Wherein account for great proportion because of the unmanned aerial vehicle electromechanical system trouble causes, and in unmanned aerial vehicle electromechanical system trouble, unmanned aerial vehicle autopilot (fly control computer promptly) fault rate name is listed as first, mainly because traditional autopilot adopts the single sensor form of unit more, has following fault point easily: 1. the single CPU runs and has the probability of hardware faults caused by overflow of memories, registers, stacks and the like and the influence of electromagnetic environment; 2. the probability of damage of a single micro-electromechanical or other structured sensor under the electromagnetic, temperature and vibration environment; 3. the software, especially the operating system, has the probability of being down in the running process.
Disclosure of Invention
In order to comprehensively solve the problems, particularly the defects in the prior art, the invention provides an automatic pilot of a heterogeneous redundancy unmanned aerial vehicle.
Therefore, the invention adopts the following technical scheme: an automatic pilot of a heterogeneous redundancy unmanned aerial vehicle comprises a CPU core module, a judgment main board, an inertial sensor, an air pressure sensor, a magnetometer and a satellite navigation module which are connected with one another, wherein the CPU core module adopts a dual-redundancy core processor and comprises two CPU core boards, and the two CPU core boards receive data and communication instructions output by the main board and work and operate simultaneously; the judgment main board comprises a voter and an interface switcher and is used for judging and outputting a corresponding CPU core board result according to the health state of the monitoring CPU board; the inertial sensor comprises a high-precision inertial sensor arranged on the mainboard and a low-precision inertial sensor arranged on the CPU core board; the air pressure sensor comprises an internal air pressure sensor and an external air pressure sensor, the magnetometer comprises an internal magnetometer and an external magnetometer, and the satellite navigation module comprises a GPS module and a Beidou module.
In addition to the above technical solutions, the present invention also includes the following technical features.
The two CPU core boards comprise a CPU core board adopting an ARM architecture and an RTOS operating system and a CPU core board adopting a DSP architecture and machine codes.
The voter and the interface switcher are designed by adopting FPGA.
Built-in baroceptor sets up on two CPU core plates that correspond, and external baroceptor sets up and communicates through external interface and autopilot in autopilot outside.
The built-in magnetometer is arranged inside the automatic pilot and connected with the main board, the external magnetometer is arranged outside the automatic pilot and communicated with the automatic pilot through an external interface, and the built-in magnetometer and the external magnetometer both adopt 3X 3 axis sensors.
The invention has the beneficial effects that: the invention can effectively improve the MCR (Mission Rate of the Mission Capable of being executed by the Session Cable Rate) of the system, expands the application range of the unmanned aerial vehicle, and adopts the dual-redundancy core processor, the dual-redundancy inertial sensor, the air pressure sensor, the magnetometer and the satellite navigation module to eliminate or reduce the probability of the failure of the automatic pilot of the unmanned aerial vehicle caused by the failure of a single CPU, the failure of a single micro-electromechanical or other structured sensor, or the failure of a single software, especially the crash of an operating system in the operation process.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
As shown in fig. 1, this embodiment provides an automatic pilot for heterogeneous redundancy unmanned aerial vehicles, which includes a CPU core module, a decision motherboard, an inertial sensor, an air pressure sensor, a magnetometer, and a satellite navigation module, which are connected to each other, where the CPU core module employs a dual-redundancy core processor, the CPU core module includes two CPU core boards, and the two CPU core boards receive data and a communication instruction output by the motherboard at the same time and operate at the same time; the judgment main board comprises a voter and an interface switcher and is used for judging and outputting a corresponding CPU core board result according to the health state of the monitoring CPU board; the inertial sensor comprises a high-precision inertial sensor arranged on the mainboard and a low-precision inertial sensor arranged on the CPU core board; the air pressure sensor comprises an internal air pressure sensor and an external air pressure sensor, the magnetometers comprise internal magnetometers and external magnetometers, the internal air pressure sensors are arranged on the two corresponding CPU core boards, and the external air pressure sensors are arranged outside the automatic pilot and are communicated with the automatic pilot through an external interface; the built-in magnetometer is arranged inside the automatic pilot and connected with the main board, the external magnetometer is arranged outside the automatic pilot and communicated with the automatic pilot through an external interface, and the built-in magnetometer and the external magnetometer both adopt 3X 3 axis sensors; the satellite navigation module comprises a GPS module and a Beidou module, the voter and the interface switcher are designed by adopting FPGA, the two CPU core boards comprise a CPU core board adopting an ARM architecture and an RTOS operating system and a CPU core board adopting a DSP architecture and machine codes, the voting basic principle is to judge which healthy CPU board result is output according to the health state of the monitoring CPU board, the ARM resolving result is taken as the main result in health, and the DSP is taken as the backup; the software module runs independently on each CPU respectively, the software on each CPU carries out combined navigation calculation and flight control algorithm calculation simultaneously, each combined navigation calculation is divided into two threads to calculate a group of high-precision data and a group of low-precision data simultaneously, the combined navigation judgment output basis is that the result calculated by the health state sensor is always output, and when the two types of sensors are healthy, the high-precision data is output.
The invention can effectively improve the MCR (Mission Rate of the Mission Capable of being executed by the Session Cable Rate) of the system, expands the application range of the unmanned aerial vehicle, and adopts the dual-redundancy core processor, the dual-redundancy inertial sensor, the air pressure sensor, the magnetometer and the satellite navigation module to eliminate or reduce the probability of the failure of the automatic pilot of the unmanned aerial vehicle caused by the failure of a single CPU, the failure of a single micro-electromechanical or other structured sensor, or the failure of a single software, especially the crash of an operating system in the operation process.
The present invention is illustrated by way of example and not by way of limitation. For those skilled in the art, other variations or modifications can be made based on the above description, for example, two ARM machines of different manufacturers or two DSPs of different manufacturers can be used in addition to the ARM machine and the DSP; both CPUs may use RTOS, or both use machine code; the number of the sensors can be one more or one less; the satellite navigation module can select two of any types; it is not necessary or necessary to exhaustively enumerate all embodiments herein, and obvious variations or modifications can be made without departing from the scope of the invention.
Claims (5)
1. The heterogeneous redundancy unmanned aerial vehicle autopilot is characterized by comprising a CPU core module, a judgment mainboard, an inertial sensor, an air pressure sensor, a magnetometer and a satellite navigation module which are connected with one another, wherein the CPU core module adopts a dual-redundancy core processor and comprises two CPU core boards, and the two CPU core boards simultaneously receive data and communication instructions output by the mainboard and simultaneously work and operate; the judgment main board comprises a voter and an interface switcher and is used for judging and outputting a corresponding CPU core board result according to the health state of the monitoring CPU board; the inertial sensor comprises a high-precision inertial sensor arranged on the mainboard and a low-precision inertial sensor arranged on the CPU core board; the air pressure sensor comprises an internal air pressure sensor and an external air pressure sensor, the magnetometer comprises an internal magnetometer and an external magnetometer, and the satellite navigation module comprises a GPS module and a Beidou module.
2. The unmanned aerial vehicle autopilot of claim 1 wherein the two CPU core boards include a CPU core board utilizing an ARM architecture and an RTOS operating system and a CPU core board utilizing a DSP architecture and machine code.
3. The heterogeneous redundancy unmanned aerial vehicle autopilot of claim 2 wherein the voter and interface switch are of FPGA design.
4. The heterogeneous redundancy unmanned aerial vehicle autopilot of claim 3 wherein the built-in air pressure sensors are disposed on the two corresponding CPU core boards, and the external air pressure sensors are disposed outside the autopilot and communicate with the autopilot through an external interface.
5. The unmanned aerial vehicle autopilot of claim 4, wherein the built-in magnetometer is disposed inside the autopilot and connected to the motherboard, the external magnetometer is disposed outside the autopilot and communicates with the autopilot through an external interface, and both the built-in magnetometer and the external magnetometer employ 3 x 3 axis sensors.
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| CN202010228171.5A CN111338265A (en) | 2020-03-27 | 2020-03-27 | Heterogeneous redundancy unmanned aerial vehicle autopilot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010228171.5A CN111338265A (en) | 2020-03-27 | 2020-03-27 | Heterogeneous redundancy unmanned aerial vehicle autopilot |
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Citations (5)
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| CN107544533A (en) * | 2017-10-12 | 2018-01-05 | 中国人民解放军国防科技大学 | Multifunctional portable micro unmanned aerial vehicle system |
| CN108776486A (en) * | 2018-06-11 | 2018-11-09 | 中国水利水电科学研究院 | A kind of large size high and medium, which is examined, beats integrated system for flight control computer redundancy structure method |
| CN110161837A (en) * | 2018-05-16 | 2019-08-23 | 北京机电工程研究所 | Triple redundance integrated signal equalization methods |
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double antenna unjammable navigation device and unmanned plane |
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2020
- 2020-03-27 CN CN202010228171.5A patent/CN111338265A/en active Pending
Patent Citations (5)
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|---|---|---|---|---|
| EP2725442A1 (en) * | 2012-10-25 | 2014-04-30 | BAE Systems PLC | Control system and method for unmanned vehicles |
| CN107544533A (en) * | 2017-10-12 | 2018-01-05 | 中国人民解放军国防科技大学 | Multifunctional portable micro unmanned aerial vehicle system |
| CN110161837A (en) * | 2018-05-16 | 2019-08-23 | 北京机电工程研究所 | Triple redundance integrated signal equalization methods |
| CN108776486A (en) * | 2018-06-11 | 2018-11-09 | 中国水利水电科学研究院 | A kind of large size high and medium, which is examined, beats integrated system for flight control computer redundancy structure method |
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double antenna unjammable navigation device and unmanned plane |
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| 王迪爽: "基于MPC5554的某型无人机双余度飞控计算机的设计", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
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Application publication date: 20200626 |
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